CN109084752A - A kind of earth-magnetism navigation localization method based on the constraint of full connection - Google Patents
A kind of earth-magnetism navigation localization method based on the constraint of full connection Download PDFInfo
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Abstract
The present invention proposes a kind of earth-magnetism navigation localization method based on the constraint of full connection, initially sets up the geomagnetic database in navigation area；According to the carrier initial position of setting and final position, the magnetic field for obtaining initial position and final position is always strong, and determines the original heading angle of carrier；In each calculating cycle, it is always strong to acquire current location earth magnetism, judge whether current location earth magnetism is always uniquely corresponding with geomagnetic database by force, if unique corresponding, current location is then obtained by geomagnetic database, otherwise the four point positioning method realization based on full-mesh is uniquely determined with the matched position of target value in magnetic chart as current location；After determining current location, judge whether otherwise less than one moving step sizes calculate the course angle at current time and continue next calculating cycle if then terminating to navigate at a distance from final position for current location.The present invention passes through four point positioning to guarantee the unique corresponding relation of geomagnetic data and coordinate position, to improve the accuracy of earth-magnetism navigation positioning.
Description
Technical field
The present invention relates to a kind of earth-magnetism navigation localization methods based on the constraint of full connection, belong to earth-magnetism navigation technical field.
Background technique
Earth-magnetism navigation is a kind of novel navigator fix technology realized using geomagnetic chart, and geomagnetic matching algorithm is earth magnetism
The core of navigation.The essence of geomagnetic matching algorithm is a kind of navigation algorithm of search, the basic principle is that: in some region
Geomagnetic database is established, by the geomagnetic sensor measurement ground magnetic value being fixed on carrier, and by the Geomagnetism Information and is stored
Geomagnetic database in a computer matches, to obtain the specific location of carrier.The technology can effectively improve biography
The defect for navigation system technology of uniting, had both been avoided that inertial navigation system was changed over time there are accumulated error so that essence of navigating
The deficiency of decline is spent, and the problems such as serious by environmental disturbances in Satellite Navigation Technique can be overcome.
Geomagnetic matching algorithm can obtain the higher position letter of relative accuracy as a kind of important earth-magnetism navigation algorithm
Breath, and the insufficient defect of measured data precision can be made up to a certain extent.It can be by quadratic interpolation technical application to ground
In magnetic matching algorithm, but the position obtained by matching is often due in the geomagnetic data and geomagnetic database that sensor measures
Position cannot uniquely correspond to, higher error hiding rate is easy to produce, to cannot achieve accurate navigator fix.
Summary of the invention
When the present invention using only magnetic field in geomagnetic matching navigation procedure, always pretending as unique earth magnetism parameter, due to
The presence of isomagnetic line, it may appear that ground magnetic value and coordinate position there are problems that not corresponding, and the correlation theory based on graph theory mentions
A kind of earth-magnetism navigation localization method based on full-mesh constraint is gone out, by four point positioning to guarantee geomagnetic data and coordinate position
Unique corresponding relation, thus improve earth-magnetism navigation positioning accuracy.
The technical solution of the present invention is as follows:
A kind of earth-magnetism navigation localization method based on the constraint of full connection, it is characterised in that: the following steps are included:
Step 1: in navigation area, the magnetic field according to several known points is always strong, using interpolation method, establishes the navigation area
Geomagnetic database in domain；
Step 2: in geomagnetic coordinate system two-dimensional surface, establishing the equation of motion of carrier are as follows:
Wherein L=V × Δ T, indicates the moving step sizes of carrier；V indicates the fortune that carrier moves with uniform velocity in Δ T time
Dynamic speed, Δ T are the sampling period；K indicates a certain moment of carrier movement, θkFor the course angle at k moment, (xk-1,yk-1) it is k-1
The position coordinates of moment carrier, (xk,yk) be k moment carrier position coordinates；
Step 3: according to the carrier initial position (x of setting0,y0) and final position (xt,yt), by the earth magnetism in step 1
Database obtains the magnetic field of initial position and final position always strong B0And Bt, and determine the original heading angle of carrierCarrier is from initial position (x0,y0) according to original heading angle θ0Advance a moving step sizes；
Step 4: acquisition current location earth magnetism is always strong, judges that current location earth magnetism is always total with the earth magnetism in geomagnetic database by force
It is strong whether uniquely corresponding, if unique corresponding, current position coordinates are obtained according to geomagnetic database, otherwise pass through following procedure
Determine current position coordinates:
Step 4.1: carrier edge since current location is parallel to the change in coordinate axis direction of geomagnetic coordinate system, side of walking
The square ABCD of a length of L, and the earth magnetism for obtaining square tetra- vertex ABCD is always strong: B0,B1,B2,B3；
Step 4.2: all and B is searched in geomagnetic database0,B1,B2,B3Matched earth magnetism is always strong, is denoted as respectivelyWherein i=1,2 ..., m；J=1,2 ..., n；K=1,2 ..., p；L=1,2 ..., q, m, n, p, q points
It is not and B0,B1,B2,B3The total strong number of identical earth magnetism, will be eachThe total strong corresponding specific location of earth magnetism
It is denoted as:
Step 4.3: it is calculated by traversal in the specific location that step 4.2 obtains, the distance between each adjacent two point:
Total m*n；
Total n*p
Total p*q
Total q*m
And it selects to obtain meeting the distance between adjacent two o'clock all positions equal with square side length L；
Step 4.4: in all positions that step 4.3 obtains, by multiple spot connectivity, the condition constrained by 4 points is unique
Determine a square, and using the start position of the square as current location；
Step 5: after determining current location, judging whether less than one movement walks at a distance from final position for current location
It is long, if so, terminating navigation, if it is not, then entering step 6；
Step 6: according to the final position (x of current position coordinates and settingt,yt), the course angle at current time is calculated, and
After the course angle one moving step sizes of advance, return step 4.
Beneficial effect
The present invention proposes a kind of earth-magnetism navigation localization method based on full-mesh constraint, by four point positioning to guarantee earth magnetism
The unique corresponding relation of data and coordinate position, to improve the accuracy of earth-magnetism navigation positioning.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
The earth-magnetism navigation location algorithm flow chart of Fig. 1 full-mesh constraint；
The mobile route and Geomagnetism Information of Fig. 2 carrier are matched with location information；
The carrier pictorial diagram that Fig. 3 is built using three wheel mobile robots；
Earth magnetism background environment three-dimensional figure and two dimensional equivalent line chart in a certain navigation area of Fig. 4；The total strong unit of earth magnetism are as follows: μ T；
The distribution of Fig. 5 earth magnetism multivalue point；
Fig. 6 constrains the four point positioning result uniquely determined based on full-mesh；
The earth-magnetism navigation result that Fig. 7 is constrained based on full-mesh.
Specific embodiment
The embodiment of the present invention is described below in detail, the embodiment is exemplary, it is intended to it is used to explain the present invention, and
It is not considered as limiting the invention.
When the present invention using only magnetic field in geomagnetic matching navigation procedure, always pretending as unique earth magnetism parameter, due to
The presence of isomagnetic line, it may appear that ground magnetic value and coordinate position there are problems that not corresponding, and the correlation theory based on graph theory mentions
A kind of earth-magnetism navigation localization method based on full-mesh constraint is gone out, by four point positioning to guarantee geomagnetic data and coordinate position
Unique corresponding relation, thus improve earth-magnetism navigation positioning accuracy.
Method includes the following steps:
Step 1: in navigation area, the magnetic field according to several known points is always strong, using interpolation method, establishes the navigation area
Geomagnetic database in domain；Earth magnetism background environment three-dimensional figure and two dimensional equivalent line chart are as shown in Fig. 4.
Step 2: in geomagnetic coordinate system two-dimensional surface, being determined and carried according to the geometrical relationship between carrier and target position
The kinematical equation of body,
In formula, k indicates a certain moment of carrier movement, vkMovement velocity for carrier at the k moment, θkFor the course at k moment
Angle, Δ T are sampling period, (xk-1,yk-1) be k-1 moment carrier position coordinates, (xk,yk) be k moment carrier position
Coordinate.When carrier moves with uniform velocity in Δ T time, i.e. vkIt can be indicated with a constant V, then formula (1) can simplify as follows:
In formula, L=V × Δ T indicates the moving step sizes of carrier.
Step 3: initialization: according to the carrier initial position (x of setting0,y0) and final position (xt,yt), by step 1
In geomagnetic database obtain the magnetic field of initial position and final position always strong B0=56.5 μ T and Bt=62.9 μ T, and determine fortune
The original heading angle of carrierCarrier is from initial position (x0,y0) according to original heading angle θ0Advance one
A moving step sizes.
Step 4: acquisition current location earth magnetism is always strong, judges that current location earth magnetism is always total with the earth magnetism in geomagnetic database by force
It is strong whether uniquely corresponding, if unique corresponding, current position coordinates are obtained according to geomagnetic database, otherwise, such as 5 institute of attached drawing
Show, one and the matched position of target value are uniquely determined in magnetic chart by the four point positioning method realization below based on full-mesh
As current location:
Step 4.1: carrier edge since current location is parallel to the change in coordinate axis direction of geomagnetic coordinate system, as shown in Figure 2
Walk the square ABCD of L that a side length is, and the earth magnetism for obtaining square tetra- vertex ABCD is always strong: B0,B1,B2,B3；
Step 4.2: all and B is searched in geomagnetic database0,B1,B2,B3Matched earth magnetism is always strong, is denoted as respectivelyWherein i=1,2 ..., m；J=1,2 ..., n；K=1,2 ..., p；L=1,2 ..., q,
M, n, p, q be respectively and B0,B1,B2,B3The total strong number of identical earth magnetism, will be eachEarth magnetism is total
Strong corresponding specific location is denoted as:
Step 4.3: it is calculated by traversal in the specific location that step 4.2 obtains, the distance between each adjacent two point:
Total m*n；
Total n*p
Total p*q
Total q*m
And it selects to obtain meeting the distance between adjacent two o'clock all positions equal with square side length L；
Step 4.4: the uniqueness in order to guarantee anchor point is connected in all positions that step 4.3 obtains by multiple spot
Property, the condition constrained by 4 points, i.e., in geomagnetic coordinate system, xA=xB,xC=xD,yA=yD,yB=yc, uniquely determine out one
Square, and using the start position of the square as current location.As shown in Fig. 6.
Step 5: after determining current location, judging whether less than one movement walks at a distance from final position for current location
It is long, if so, terminating navigation, if it is not, then entering step 6；
Step 6: according to the final position (x of current position coordinates and settingt,yt), the course angle at current time is calculated, and
After the course angle one moving step sizes of advance, return step 4.
The algorithm can solve due to ground magnetic value and position coordinates it can be seen from the path locus attached drawing 7 of navigator fix
Multivalue problem lead to the defect that position can not uniquely determine during earth-magnetism navigation, pass through full-mesh constrain four point positioning
Navigation purpose may be implemented in earth-magnetism navigation positioning, to demonstrate the validity of the invention.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (1)
1. a kind of earth-magnetism navigation localization method based on the constraint of full connection, it is characterised in that: the following steps are included:
Step 1: in navigation area, the magnetic field according to several known points is always strong, using interpolation method, establishes in the navigation area
Geomagnetic database；
Step 2: in geomagnetic coordinate system two-dimensional surface, establishing the equation of motion of carrier are as follows:
Wherein L=V × Δ T, indicates the moving step sizes of carrier；V indicates the movement speed that carrier moves with uniform velocity in Δ T time
Degree, Δ T are the sampling period；K indicates a certain moment of carrier movement, θkFor the course angle at k moment, (xk-1,yk-1) it is the k-1 moment
The position coordinates of carrier, (xk,yk) be k moment carrier position coordinates；
Step 3: according to the carrier initial position (x of setting0,y0) and final position (xt,yt), by the geomagnetic data in step 1
Library obtains the magnetic field of initial position and final position always strong B0And Bt, and determine the original heading angle of carrierCarrier is from initial position (x0,y0) according to original heading angle θ0Advance a moving step sizes；
Step 4: acquisition current location earth magnetism is always strong, judges that current location earth magnetism is by force always by force always with the earth magnetism in geomagnetic database
No unique correspondence obtains current position coordinates according to geomagnetic database, is otherwise determined by following procedure if unique corresponding
Current position coordinates:
Step 4.1: along the change in coordinate axis direction for being parallel to geomagnetic coordinate system since current location, side length of walking is carrier
L square ABCD, and the earth magnetism for obtaining square tetra- vertex ABCD is always strong: B0,B1,B2,B3；
Step 4.2: all and B is searched in geomagnetic database0,B1,B2,B3Matched earth magnetism is always strong, is denoted as respectivelyWherein i=1,2 ..., m；J=1,2 ..., n；K=1,2 ..., p；L=1,2 ..., q, m, n, p, q points
It is not and B0,B1,B2,B3The total strong number of identical earth magnetism, will be eachThe total strong corresponding specific location of earth magnetism
It is denoted as:
I=1,2 ..., m；J=1,2 ..., n；K=1,2 ..., p；L=1,
2,...,q；
Step 4.3: it is calculated by traversal in the specific location that step 4.2 obtains, the distance between each adjacent two point:
Total m*n；
Total n*p
Total p*q
Total q*m
And it selects to obtain meeting the distance between adjacent two o'clock all positions equal with square side length L；
Step 4.4: in all positions that step 4.3 obtains, by multiple spot connectivity, the condition constrained by 4 points is uniquely determined
A square out, and using the start position of the square as current location；
Step 5: after determining current location, judge current location at a distance from final position whether less than one moving step sizes, if
It is then to terminate to navigate, if it is not, then entering step 6；
Step 6: according to the final position (x of current position coordinates and settingt,yt), the course angle at current time is calculated, and with this
Course angle is advanced after a moving step sizes, return step 4.
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